Autonomous anti-winding device of propeller for underwater unmanned underwater vehicle

Abstract

The invention provides a propeller autonomous anti-winding device for an underwater unmanned underwater vehicle, and relates to the technical field of unmanned underwater vehicles, the propeller autonomous anti-winding device comprises an autonomous cutting knife mechanism, a propeller accompanying cutting knife mechanism, a stern cutting knife movement mechanism and an integrated driving cabin, the integrated driving cabin comprises an autonomous cutting knife direct current motor and a propeller direct current motor, the direct-current motor and the stern cutting knife movement mechanism drive the autonomous cutting knife to move, the propeller rotates along with the cutting knife, the autonomous cutting knife motor drives the autonomous cutting knife to rotate, entanglements at the tail of the propeller are cut, the propeller is prevented from being locked by sundries, the motor is prevented from being burnt out due to explosion, and normal work of the propeller is guaranteed. Therefore, the safety of the unmanned underwater vehicle in underwater navigation can be improved, and when the underwater vehicle normally advances, the autonomous cutting knife does not move, so that the energy loss is reduced. The propeller accompanying cutting knife and the autonomous cutting knife are matched to shear entanglements, and the problem that the underwater vehicle is difficult to escape after being wound by underwater sundries is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned submersibles, and more specifically, particularly relates to an autonomous anti-entanglement device for a propeller of an underwater unmanned submersible. Background Art

[0002] When an unmanned submersible is sailing, some underwater fishing nets, ropes in shallow waters, underwater water plants and other debris will entangle the propeller and the outer cover of the propeller power device, affecting the operation and safety of the underwater submersible. It is also difficult to search for the unmanned submersible underwater after the propeller is entangled. After the propeller is entangled, the traditional method is to manually search for the unmanned submersible and remove the entanglement by diving. The traditional method has the disadvantages of high labor intensity and high safety. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an autonomous anti-entanglement device for a propeller of an underwater unmanned submersible to solve the above problems.

[0004] An active propeller anti-entanglement device for an underwater unmanned submersible, a stern cutter motion mechanism, an autonomous cutter, an autonomous cutter assembly, a thruster accompanying cutter, an accompanying cutter assembly, a thruster and a tail connecting frame. Among them, the stern cutter motion mechanism includes a stern cutter motion mechanism outer cover, a thruster motor, an autonomous cutter motor, an autonomous cutter planetary gear set, an autonomous cutter connecting ring, a rotating bearing, and a torque sensor. The stern cutter motion mechanism rotates the thruster through the thruster power motor and the rotating bearing. The autonomous cutter is fixed on the autonomous cutter assembly and can rotate by itself through the autonomous cutter motor, the autonomous cutter planetary gear set, and the autonomous cutter connecting ring. The thruster accompanying cutter is driven by the rotation of the stern cutter motion mechanism, and the thruster accompanying cutter and the autonomous cutter form a shearing structure.

[0005] The accompanying cutter assembly described in the present invention can be integrally formed with the propeller, or can be an additional assembly connected by other means.

[0006] The autonomous cutting knife assembly described in the present invention can be integrally formed with the autonomous cutting knife, or can be an additional assembly connected by other means.

[0007] The movable cutting knife described in the patent of the present invention gradually widens from the root of the component to the top, and blades are left on both sides and the top of the cutter head.

[0008] The fixed cutting knife described in the patent of the present invention gradually widens from the root of the component to the top, and blades are left on both sides and the top of the cutter head.

[0009] Compared with the prior art, the present invention has the following beneficial effects:

[0010] Improve navigation safety: During the operation of the unmanned submersible, once the propeller is entangled by underwater fishing nets, water plants and other debris, it may cause the propeller to lock, and then the motor will be overloaded and burned. The present invention uses a shearing structure formed by the propeller accompanying cutter and the autonomous cutter. When debris entangles the propeller, the torque sensor senses the increase in the torque of the propeller motor, and then the autonomous cutter motor drives the autonomous cutter to rotate, quickly cutting the entanglement, avoiding the propeller from locking, and ensuring the normal operation of the propeller, thereby significantly improving the safety of the unmanned submersible in underwater navigation and reducing the risk of failure during navigation.

[0011] Reduce work intensity and risk: In the traditional way, after the propeller is entangled, it is necessary to manually search for the unmanned submersible and dive to remove the entanglement, which is labor-intensive and has safety hazards. The autonomous anti-entanglement device of the present invention can handle the entanglement problem autonomously without manual intervention, greatly reducing the work intensity of the operators, while avoiding the dangers faced by manual diving operations and ensuring the life safety of the operators.

[0012] Simple structure and low cost: The device is mainly composed of the stern cutter movement mechanism, the autonomous cutter, the thruster accompanying cutter and other components, and the overall structural design is simple. Compared with some complex anti-entanglement technologies, its manufacturing cost and maintenance cost are lower, and it does not require additional complex equipment or expensive materials, which is convenient for large-scale production and application, and is conducive to improving the market competitiveness of unmanned underwater vehicles.

[0013] Energy saving and high efficiency: When the submersible is moving normally, the autonomous cutter remains stationary, and only the thruster rotates with the cutter, avoiding unnecessary energy loss. The autonomous cutter will only start when the thruster is detected to be entangled. This on-demand working mode improves energy utilization efficiency and extends the endurance of the unmanned submersible, enabling it to perform more persistent tasks underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a cross-sectional view of the structure of the stern cutter movement mechanism of the present invention.

[0015] Figure 2 is a schematic diagram of the vehicle position where the propeller anti-winding device of the present invention is located;

[0016] Figure 3 is a front view of the propeller anti-winding device of the present invention;

[0017] Figure 4 It is a structural cross-sectional view of the propeller anti-winding device of the present invention.

[0018] In the figure, the correspondence between the component names and the figure numbers is: 1. stern cutting knife movement mechanism; 101. stern cutting knife movement mechanism outer cover; 102. propeller motor; 103. autonomous cutting knife motor; 104. autonomous cutting knife planetary gear set; 105. autonomous cutting knife connecting ring; 106. rotating bearing; 107. torque sensor; 2. autonomous cutting knife; 3. autonomous cutting knife assembly; 4. propeller accompanying cutting knife; 5. accompanying cutting knife assembly; 6. propeller; 7. tail connecting frame. DETAILED DESCRIPTION

[0019] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0020] See also Figure 1-Figure 4 The present invention provides an active propeller anti-winding device for an underwater unmanned submersible, comprising a propeller power device 1, a stern cutter movement mechanism 2, an autonomous cutter, 3, an autonomous cutter assembly, 4, a propeller accompanying cutter, 5, an accompanying cutter assembly, 6, a propeller, 7, and a tail connecting frame. Among them, the stern cutter movement mechanism 1 rotates the propeller 6 through the propeller power motor 101 and the rotating bearing 103. The autonomous cutter 2 is fixed on the autonomous cutter 3 assembly, and can rotate automatically through the autonomous cutter motor 103 and the autonomous cutter planetary gear set 104 and the autonomous cutter 105 connecting ring. The propeller accompanying cutter 4 is driven by the rotation of the stern cutter motion mechanism 1, and the propeller accompanying cutter 4 and the autonomous cutter 2 form a shearing structure. When debris is entangled in the propeller 6, the torque sensor 107 senses the increase in the torque of the propeller motor 102. At this time, the autonomous cutter motor 103 drives the autonomous cutter 2 to rotate, and cuts off the entanglement at the tail of the propeller 6 to prevent the debris from locking the propeller, avoiding the sudden death of the motor and burning the motor, ensuring the normal operation of the propeller 6, and thus improving the safety of the unmanned submersible in underwater navigation.

[0021] Working principle:

[0022] The integrated drive cabin includes an autonomous cutter DC motor and a thruster DC motor. The autonomous cutter is driven to move by the DC motor and the stern cutter motion mechanism, and the thruster accompanying cutter rotates with the thruster. When the thruster is working normally, the thruster accompanying cutter rotates with the thruster, and the autonomous cutter does not move. The thruster accompanying cutter and the autonomous cutter form a shearing structure, similar to a scissors, so that the debris entangled between the thruster and the thruster power unit can be cut off. A torque sensor is installed inside the integrated drive cabin. When debris is entangled in the thruster, the accompanying cutter may not work. At this time, the torque sensor senses that the torque of the thruster motor increases, and the autonomous cutter motor drives the autonomous cutter to rotate, cutting the entanglement at the tail of the thruster to prevent the debris from locking the thruster, avoiding the sudden death of the motor and burning the motor, ensuring the normal operation of the thruster, and thus improving the safety of the unmanned submersible in underwater navigation. When the submersible is moving normally, the autonomous cutter does not move to reduce energy loss. The present invention solves the problem that it is difficult for an underwater submersible to escape after being entangled by underwater debris by cooperating with a thruster accompanying cutter and an autonomous cutter to shear the entangled object.

[0023] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. An autonomous anti-entanglement device for a propeller of an underwater unmanned submersible, characterized in that: It comprises a stern cutter movement mechanism (1), an autonomous cutter (2), an autonomous cutter assembly (3), a propeller accompanying cutter (4), an accompanying cutter assembly (5), a propeller (6) and a stern connecting frame (7); The stern cutter movement mechanism (1) comprises a stern cutter movement mechanism housing (101), a propeller motor (102), an autonomous cutter motor (103), an autonomous cutter planetary gear set (104), an autonomous cutter connecting ring (105), a rotating bearing (106) and a torque sensor (107); The propeller power motor (101) drives the propeller (6) through a rotating bearing (103); the autonomous cutter (2) is fixed on the autonomous cutter assembly (3) and can rotate autonomously through the autonomous cutter motor (103), the autonomous cutter planetary gear set (104) and the autonomous cutter connecting ring (105); the stern cutter movement mechanism (1) is connected to the propeller accompanying cutter (4); and the propeller accompanying cutter (4) and the autonomous cutter (2) form a shearing structure.

2. The autonomous anti-entanglement device for underwater unmanned submersible propeller as claimed in claim 1, characterized in that: The accompanying cutting knife assembly (5) gradually widens from the end to the top, and blades are left on both sides and the top of the cutter head.

3. The autonomous anti-winding device for propeller of underwater unmanned submersible as claimed in claim 1, characterized in that: The autonomous cutting knife (2) gradually widens from the end of the component upward, and has blades on both sides and the top of the knife head.

4. The autonomous anti-winding device for the propeller of an underwater unmanned submersible as claimed in claim 1, characterized in that: The accompanying cutting knife assembly (5) may be formed integrally with the propeller (6), or may be an additional assembly connected in other ways.

5. The autonomous anti-entanglement device for underwater unmanned submersible propeller as claimed in claim 1, characterized in that: The autonomous cutting knife component (3) can be formed integrally with the autonomous cutting knife (2), or can be an additional component connected in other ways.

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